2013年全国大学生电子设计大赛本科C题倒立摆程序.doc

#include#include #include #include typedef unsigned char uchar;typedef unsigned short ushort;typedef unsigned int uint;sbit bmq=P15;sbit sn=P12;sbit l1=P10;sbit l2=P11;sbit j1=P00;sbit j2=P01;sbit j3=P02;sbit j4=P03;sbit j5=P04;sbit j6=P05;sbit j7=P06;sbit j8=P07;unsigned char tttt=0;unsigned char step=0;#define unchar unsigned char#define unint unsigned int#define clear 0x01#define home 0x02#define f_set 0x30#define dis_on 0x0f#define in_mode 0x06sbit P_RS=P22;sbit P_RW=P21;sbit P_E= P20;sbit SCL=P16;/IIC时钟引脚定义sbit SDA=P17;/IIC数据引脚定义char s15;/*/ 定义MPU6050内部地址/*#defineSMPLRT_DIV0x19/陀螺仪采样率，典型值：0x07(125Hz)#defineCONFIG0x1A/低通滤波频率，典型值：0x06(5Hz)#defineGYRO_CONFIG0x1B/陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)#defineACCEL_CONFIG0x1C/加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)#defineACCEL_XOUT_H0x3B#defineACCEL_XOUT_L0x3C#defineACCEL_YOUT_H0x3D#defineACCEL_YOUT_L0x3E#defineACCEL_ZOUT_H0x3F#defineACCEL_ZOUT_L0x40#defineTEMP_OUT_H0x41#defineTEMP_OUT_L0x42#defineGYRO_XOUT_H0x43#defineGYRO_XOUT_L0x44#defineGYRO_YOUT_H0x45#defineGYRO_YOUT_L0x46#defineGYRO_ZOUT_H0x47#defineGYRO_ZOUT_L0x48#definePWR_MGMT_10x6B/电源管理，典型值：0x00(正常启用)#defineWHO_AM_I0x75/IIC地址寄存器(默认数值0x68，只读)#defineSlaveAddress0xD0/IIC写入时的地址字节数据，+1为读取/*/函数声明/*/MPU6050操作函数void InitMPU6050();/初始化MPU6050void Delay5us();void I2C_Start();void I2C_Stop();void I2C_SendACK(bit ack);bit I2C_RecvACK();void I2C_SendByte(uchar dat);uchar I2C_RecvByte();void I2C_ReadPage();void I2C_WritePage();uchar Single_ReadI2C(uchar REG_Address);/读取I2C数据void Single_WriteI2C(uchar REG_Address,uchar REG_data);/向I2C写入数据/*/延时5微秒(STC90C52RC12M)/不同的工作环境,需要调整此函数/当改用1T的MCU时,请调整此延时函数/*void Delay5us()unsigned char i;i = 22;while (-i);/*/I2C起始信号/*void I2C_Start() SDA = 1; /拉高数据线 SCL = 1; /拉高时钟线 Delay5us(); /延时 SDA = 0; /产生下降沿 Delay5us(); /延时 SCL = 0; /拉低时钟线/*/I2C停止信号/*void I2C_Stop() SDA = 0; /拉低数据线 SCL = 1; /拉高时钟线 Delay5us(); /延时 SDA = 1; /产生上升沿 Delay5us(); /延时/*/I2C发送应答信号/入口参数:ack (0:ACK 1:NAK)/*void I2C_SendACK(bit ack) SDA = ack; /写应答信号 SCL = 1; /拉高时钟线 Delay5us(); /延时 SCL = 0; /拉低时钟线 Delay5us(); /延时/*/I2C接收应答信号/*bit I2C_RecvACK() SCL = 1; /拉高时钟线 Delay5us(); /延时 CY = SDA; /读应答信号 SCL = 0; /拉低时钟线 Delay5us(); /延时 return CY;/*/向I2C总线发送一个字节数据/*void I2C_SendByte(uchar dat) uchar i; for (i=0; i8; i+) /8位计数器 dat = 1; /移出数据的最高位 SDA = CY; /送数据口 SCL = 1; /拉高时钟线 Delay5us(); /延时 SCL = 0; /拉低时钟线 Delay5us(); /延时 I2C_RecvACK();/*/从I2C总线接收一个字节数据/*uchar I2C_RecvByte() uchar i; uchar dat = 0; SDA = 1; /使能内部上拉,准备读取数据, for (i=0; i8; i+) /8位计数器 dat = 1; SCL = 1; /拉高时钟线 Delay5us(); /延时 dat |= SDA; /读数据 SCL = 0; /拉低时钟线 Delay5us(); /延时 return dat;/*/向I2C设备写入一个字节数据/*void Single_WriteI2C(uchar REG_Address,uchar REG_data) I2C_Start(); /起始信号 I2C_SendByte(SlaveAddress); /发送设备地址+写信号 I2C_SendByte(REG_Address); /内部寄存器地址， I2C_SendByte(REG_data); /内部寄存器数据， I2C_Stop(); /发送停止信号/*/从I2C设备读取一个字节数据/*uchar Single_ReadI2C(uchar REG_Address)uchar REG_data;I2C_Start(); /起始信号I2C_SendByte(SlaveAddress); /发送设备地址+写信号I2C_SendByte(REG_Address); /发送存储单元地址，从0开始I2C_Start(); /起始信号I2C_SendByte(SlaveAddress+1); /发送设备地址+读信号REG_data=I2C_RecvByte(); /读出寄存器数据I2C_SendACK(1); /接收应答信号I2C_Stop(); /停止信号return REG_data;/*/初始化MPU6050/*void InitMPU6050()Single_WriteI2C(PWR_MGMT_1, 0x00);/解除休眠状态Single_WriteI2C(SMPLRT_DIV, 0x07);Single_WriteI2C(CONFIG, 0x06);Single_WriteI2C(GYRO_CONFIG, 0x18);Single_WriteI2C(ACCEL_CONFIG, 0x01);/*/合成数据/*int GetData(uchar REG_Address)char H,L;H=Single_ReadI2C(REG_Address);L=Single_ReadI2C(REG_Address+1);return (H=0x01;i=i1) if(ix&i)=0) P_RW=0; else P_RW=1; P_E=1; P_E=0; void instruct(unchar dat)unchar ch;P_RS=1;ch=0xf8;bit8_serial_input(ch);ch=dat&0xf0;bit8_serial_input(ch);ch=dat4;bit8_serial_input(ch);P_RS=0;void write_abyte(unchar dat)data unchar ch;P_RS=1;ch=0xfa;bit8_serial_input(ch);ch=dat&0xf0;bit8_serial_input(ch);ch=dat4;bit8_serial_input(ch);P_RS=0;void dis_str(unchar x, unchar y, unchar *str)unchar loc,*p;unchar xline5=0,1,3,2,4;p=str;x=xlinex;instruct(home);loc=(16*(x-1)+y-1);if(loc&0x01) loc/=2; instruct(loc|0x80); write_abyte( ); else loc/=2; instruct(loc|0x80); while(*p) write_abyte(*p+); void initial(void)data unchar i,j;P_RS=0;P_E=0;instruct(f_set);for(i=0;i30;i+)for(i=0;i250;i+)for(i=0;i250;i+)instruct(f_set);for(i=0;i30;i+)for(i=0;i250;i+)for(i=0;i250;i+)instruct(0x0c);for(i=0;i30;i+)instruct(clear);for(j=0;j10;j+) for(i=0;i250;i+)instruct(in_mode);for(i=0;i8;IAP_TRIG=0x5A;IAP_TRIG=0xA5;IAP_ADDRL+;IAP_DATA=d&0xff;IAP_TRIG=0x5A;IAP_TRIG=0xA5;void savechar(unsigned char d)IAP_DATA=d;IAP_TRIG=0x5A;IAP_TRIG=0xA5;unsigned char readchar()IAP_TRIG=0x5A;IAP_TRIG=0xA5;return IAP_DATA;int readint()int d;IAP_TRIG=0x5A;IAP_TRIG=0xA5;d=IAP_DATA;d4;while(1)initial();while(input()=15);Delay50ms(2);dis_str(4,1,输入PWM1高四位);sprintf(s,%d,(int)t);dis_str(1,9,s);Delay50ms(1);num=input();switch(num)case 16:case 0:break;default:t=num;if(num=16)break;PWM1&=0x0f;PWM1+=t4;while(1)initial();dis_str(4,1,输入PWM2高四位);sprintf(s,%d,(int)t);dis_str(1,9,s);Delay50ms(1);num=input();switch(num)case 16:case 0:break;default:t=num;if(num=16)break;PWM2&=0x0f;PWM2+=t4;while(1)initial();dis_str(4,1,输入PWM3高四位);sprintf(s,%d,(int)t);dis_str(1,9,s);Delay50ms(1);num=input();switch(num)case 16:case 0:break;default:t=num-1;if(num=16)break;PWM3&=0x0f;PWM3+=t4;t=PWM3&0x0f;while(input()=16);Delay50ms(2);while(1)initial();dis_str(4,1,输入PWM3低四位);sprintf(s,%d,(int)t);dis_str(1,9,s);Delay50ms(1);num=input();switch(num)case 16:case 0:break;default:t=num-1;if(num=16)break;while(input()=16);Delay50ms(2);PWM3&=0xf0;PWM3+=t;t=pa1;while(1)initial();dis_str(4,1,输入一加速时间);sprintf(s,%d,(int)t);dis_str(1,9,s);Delay50ms(1);num=input();switch(num)case 16:case 0:break;default:t=num-1;if(num=16)break;while(input()=16);Delay50ms(2);pa1=t;t=ps1;while(1)initial();dis_str(4,1,输入一减速时间);sprintf(s,%d,(int)t);dis_str(1,9,s);Delay50ms(1);num=input();switch(num)case 16:case 0:break;default:t=num-1;if(num=16)break;while(input()=16);Delay50ms(2);ps1=t;t=pa2;while(1)initial();dis_str(4,1,输入二加速时间);sprintf(s,%d,(int)t);dis_str(1,9,s);Delay50ms(1);num=input();switch(num)case 16:case 0:break;default:t=num-1;if(num=16)break;while(input()=16);Delay50ms(2);pa2=t;t=ps2;while(1)initial();dis_str(4,1,输入二减速时间);sprintf(s,%d,(int)t);dis_str(1,9,s);Delay50ms(1);num=input();switch(num)case 16:case 0:break;default:t=num-1;if(num=16)break;while(input()=16);Delay50ms(2);ps2=t;gx=GetData(ACCEL_XOUT_H)/100-164;IAP_CONTR=0x83;IAP_ADDRH=0;IAP_ADDRL=0;IAP_CMD=3;IAP_TRIG=0x5A;IAP_TRIG=0xA5;IAP_CMD=2;saveint(gx);gy=GetData(ACCEL_YOUT_H)/100;IAP_ADDRL+;saveint(gy);gz=GetData(ACCEL_ZOUT_H)/100;IAP_ADDRL+;saveint(gz);wy=GetData(GYRO_YOUT_H)/100;IAP_ADDRL+;saveint(wy);IAP_ADDRL+;savechar(PWM1);IAP_ADDRL+;savechar(PWM2);IAP_ADDRL+;savechar(PWM3);IAP_ADDRL+;savechar(pa1);IAP_ADDRL+;savechar(ps1);IAP_ADDRL+;savechar(pa2);IAP_ADDRL+;savechar(ps2);initial();return;int x,y,z;int getangle()x=GetData(ACCEL_XOUT_H)/100+164-gx;y=GetData(ACCEL_YOUT_H)/100-gy;z=GetData(ACCEL_ZOUT_H)/100-gz;if(z4;ps=0;if(state4;ps+;if(state4;ps+;if(state4;ps+;if(state15)break;j4=1;break;switch(state)case 15:return 0;case 14:return 1+4*ps;case 13:return 2+4*ps;case 11:return 3+4*ps;case 7:return 4+4*ps;return 0;void rd()l1=1;l2=0;Delay50ms(pa1);l1=0;Delay50ms(ps1);unsigned char a;float b;unsigned char reset=0;unsigned char xd,xa;int angle;void main()InitMPU6050();/初始化MPU6050IAP_CONTR=0x83;IAP_ADDRH=0;IAP_ADDRL=0;IAP_CMD=1;gx=readint();IAP_ADDRL+;gy=readint();IAP_ADDRL+;gz=readint();IAP_ADDRL+;wy=readint();IAP_ADDRL+;PWM1=readchar();IAP_ADDRL+;PWM2=readchar();IAP_ADDRL+;PWM3=readchar();IAP_ADDRL+;pa1=readchar();IAP_ADDRL+;ps1=readchar();IAP_ADDRL+;pa2=readchar();IAP_ADDRL+;ps2=readchar();TMOD=0X20;TH1=0xfb;TL1=0xfb;SCON=0x50;TR